CN116494243A - Method for monitoring running state of embedded robot - Google Patents
Method for monitoring running state of embedded robot Download PDFInfo
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- CN116494243A CN116494243A CN202310647080.9A CN202310647080A CN116494243A CN 116494243 A CN116494243 A CN 116494243A CN 202310647080 A CN202310647080 A CN 202310647080A CN 116494243 A CN116494243 A CN 116494243A
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- 238000000034 method Methods 0.000 title claims abstract description 38
- 238000012544 monitoring process Methods 0.000 title claims abstract description 26
- 230000002093 peripheral effect Effects 0.000 claims abstract description 43
- 238000003860 storage Methods 0.000 claims description 25
- 230000006870 function Effects 0.000 claims description 13
- 238000004891 communication Methods 0.000 claims description 9
- 230000002159 abnormal effect Effects 0.000 claims description 7
- 238000010438 heat treatment Methods 0.000 claims description 7
- 238000005259 measurement Methods 0.000 claims description 5
- 230000008859 change Effects 0.000 abstract description 2
- 230000008569 process Effects 0.000 description 11
- 230000001360 synchronised effect Effects 0.000 description 11
- 230000005856 abnormality Effects 0.000 description 7
- 238000010586 diagram Methods 0.000 description 7
- 230000007246 mechanism Effects 0.000 description 6
- 230000001276 controlling effect Effects 0.000 description 3
- 238000011161 development Methods 0.000 description 3
- 238000004519 manufacturing process Methods 0.000 description 3
- 238000012545 processing Methods 0.000 description 3
- 238000006243 chemical reaction Methods 0.000 description 2
- 238000013021 overheating Methods 0.000 description 2
- 230000001133 acceleration Effects 0.000 description 1
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- 238000007781 pre-processing Methods 0.000 description 1
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- 230000001960 triggered effect Effects 0.000 description 1
- 238000012795 verification Methods 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1674—Programme controls characterised by safety, monitoring, diagnostic
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
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Abstract
The invention provides an embedded robot running state monitoring method which is characterized by comprising the following operations: constructing an operation state data set of the embedded robot, wherein the operation state data set comprises a plurality of state variables of the embedded robot and data packets bound with the state variables, and the state variables comprise a first type of state variables and a second type of state variables; the operation of synchronizing the running state data set comprises the steps of acquiring real-time measured values of the first type of state variables according to the running state of the peripheral equipment of the embedded robot and synchronously updating the real-time measured values, and controlling the running state of the peripheral equipment of the embedded robot according to the real-time set values of the second type of state variables and synchronously updating the real-time measured values. The technical scheme of the method and the device can effectively avoid the change of the global variable in the kernel layer, and ensure that the running state of the embedded robot is monitored safely and stably.
Description
Technical Field
The application belongs to the technical field of robot control, relates to an embedded robot monitoring technology, and particularly provides an embedded robot running state monitoring method.
Background
The embedded robot is a robot device which can automatically complete specific tasks by using functional components such as a sensor, an executing mechanism and the like to control the embedded operating system, has stronger flexibility and adaptability because the embedded robot device can be subjected to customized design according to different tasks and environments, has the advantages of stable operation, strong anti-interference capability, small occupied hardware resources, small volume, space saving, manufacturing and using cost and the like, and has remarkable advantages when being used for controlling robots compared with other large-scale operating systems, and the robot developed by using the embedded system is widely applied to the fields of industrial automation production lines, medical care, home services, intelligent transportation and the like at present to perform the work of intelligent manufacturing and assembly, intelligent operation, home cleaning, traffic monitoring, intelligent navigation and the like.
In the operation process of the embedded robot, a large number of state variables acquired by sensor peripherals or set by controller peripherals such as a motor, a steering engine and the like are required to be processed and analyzed so as to realize real-time monitoring of the robot, the acquisition mode and the setting mode of the state variables are different and can be accessed by different functional modules at the same time, and under the condition that the hardware configuration of a processor, a memory and the like of the embedded operating system is lower, a powerful and perfect variable anti-collision synchronous mechanism cannot be generally provided like a large operating system, so that various types of faults can be caused due to conflict of the synchronization of the variables in the operation process of the embedded robot.
Therefore, aiming at different types of state variables in the running process of the robot, the variable acquisition and setting modes of the existing embedded operating system are improved so as to ensure that the running state of the robot is monitored more effectively.
Disclosure of Invention
In order to solve the above-mentioned problems in the prior art, the present application provides, by way of embodiments, a method for monitoring an operation state of an embedded robot, the method including the following operations:
constructing an operation state data set of the embedded robot, wherein the operation state data set comprises a plurality of state variables of the embedded robot and data packets bound with the state variables, and the state variables comprise a first type of state variables and a second type of state variables;
the operation of synchronizing the running state data set comprises the steps of acquiring real-time measured values of the first type of state variables according to the running state of the peripheral equipment of the embedded robot and synchronously updating the real-time measured values, and controlling the running state of the peripheral equipment of the embedded robot according to the real-time set values of the second type of state variables and synchronously updating the real-time measured values.
Further, the real-time measured value of the first type state variable is obtained through a first type peripheral of the embedded robot; and the real-time setting value of the second type state variable is used for driving a second type peripheral of the embedded robot.
Further, the first type of peripheral is a sensor type of peripheral.
Preferably, the second class of peripheral devices comprises at least one of the following devices: motor, steering wheel, heating device.
Preferably, the state variable has at least two memory addresses, and the data packet includes at least the following data items: the ID of the state variable bound to the data packet, the current value, the storage address list, the storage address lock state.
Further, for each of the state variables, the update is synchronized by:
step 100, acquiring a real-time measured value or a real-time set value of a state variable to be updated;
step 200, determining the data packet bound by the state variable which needs to be updated;
step 300, reading the locking state in the data packet, if the locking state is unlocked, executing step 400, if the locking state is locked, waiting until the locking state of the state variable becomes unlocked and no earlier updating operation is performed on the state variable, and entering step 400;
step 400, setting the locked state in the data packet to be locked;
step 500, reading a storage address list from the data packet;
step 600, updating each storage address on the storage address list in the data packet by using the acquired real-time measurement value or real-time setting value;
step 700, updating the current value in the data packet by using the acquired real-time measured value or real-time set value;
step 800, setting the locked state in the data packet to unlocked.
Preferably, the data packet further comprises a pointer to a synchronization function for synchronously storing the current value of the state variable at the storage address of the state variable.
Preferably, the plurality of state variables further includes at least one third type of state variable, and synchronizing the running state data set further includes: and synchronously updating the third type of state variables according to the real-time measured values of the first type of state variables and/or the real-time set values of the second type of state variables.
Preferably, synchronizing the running state data set further comprises: and synchronously updating the third type of state variables according to the communication conditions among the peripheral devices of the embedded robot.
Preferably, the method for monitoring the running state of the embedded robot further comprises an operation of judging whether the running state of the embedded robot is abnormal or not.
According to the embedded robot running state monitoring method, the data packages bound with the state variables of different types related in the running process of the embedded robot are built, and each function or module running on the application layer can be synchronously updated at a plurality of storage addresses through the current values of the state variables in the data packages, so that the change of global variables in the kernel layer is avoided, and the running state of the embedded robot is safely and stably monitored.
Drawings
FIG. 1 is a schematic diagram of an embedded robot architecture;
FIG. 2 is a schematic diagram of an embedded robot operating state monitoring method provided according to some embodiments of the present application;
FIG. 3 is a schematic diagram of steps for synchronously updating state variables according to some embodiments of the present application;
fig. 4 is a schematic diagram of an embedded robot running state monitoring method according to some embodiments of the present application.
Detailed Description
The present application will be further described below based on preferred embodiments with reference to the accompanying drawings.
The terminology used in this description is for the purpose of describing the embodiments of the present application and is not intended to be limiting of the present application. It should also be noted that unless explicitly stated or limited otherwise, the terms "disposed," "connected," and "connected" should be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; the two components can be connected mechanically, directly or indirectly through an intermediate medium, and can be communicated internally. The specific meaning of the terms in this application will be specifically understood by those skilled in the art.
Fig. 1 shows a schematic architecture diagram of a specific embedded robot, and as shown in fig. 1, the embedded robot is composed of a control unit, a power supply unit, a communication unit, a storage unit, a power supply unit, and a plurality of peripherals.
Specifically, as shown in fig. 1, the control unit is composed of a main chip and a plurality of sub-chips controlled by the main chip, wherein the embedded operating system runs on the main chip, the plurality of sub-chips are respectively connected with each functional unit to perform operations such as transmission, analysis and preprocessing of data and control signals, and the plurality of sub-chips can also perform data communication, for example, in fig. 1, the 1 st sub-chip and the 3 rd sub-chip can perform data communication through the 2 nd sub-chip.
The embedded robot shown in fig. 1 may further include a plurality of first type peripherals and a plurality of second type peripherals, which are different in signal transmission direction.
In some embodiments of the present application, as shown in fig. 1, the first type of peripheral device includes a temperature sensor, a photosensitive sensor, a trigger sensor (for example, a micro switch), an attitude sensor (for example, an accelerometer), an image sensor (for example, a camera), an infrared sensor, an encoder, an ultrasonic sensor, a magnetic sensor, and so on, where the information of the obtained measured values may reflect the operation states of each position or component of the robot, such as the temperature and the gesture of a specific part or device, and in some preferred embodiments, as shown in fig. 1, the information obtained by each sensor may be uniformly managed by the first side chip and transmitted to the embedded operating system on the main chip as the first type of state variable; in addition, in some embodiments, the 1 st sub-chip may further perform format conversion, analog-to-digital conversion, data value anomaly judgment, data receiving state verification, and the like on the measured value obtained by the sensor.
In some embodiments of the present application, as shown in fig. 1, the second-class peripheral includes a motor, a steering engine, a heating device (heating plate), and the like, which receives setting values sent by an embedded operating system, for example, a rotation speed/power value of the motor, an angle value of the steering engine, and a heating current signal of the heating plate, so that the second-class peripheral can reach a desired running state, in this application, the second-class peripheral is also referred to as a controller, in some preferred embodiments, as shown in fig. 2, a plurality of second-class peripheral can be uniformly managed through a 3 rd sub-chip, and the 3 rd sub-chip receives, from the embedded operating system of the main chip, setting values of different motors, steering engines, heating plates, and the like, and transmits the setting values as second-class state variables to the corresponding second-class peripheral.
In the operation process of the embedded robot shown in fig. 1, it is necessary to accurately obtain the real-time measurement value of the first state variable to monitor whether each functional unit, module and component of the robot has faults or abnormalities, and timely control the motor, steering engine and other devices through the real-time setting value of the second state variable to make the robot perform the expected action or reach the expected operation state; in addition, since different functional modules may need to acquire the same state variable or have authority to control the same state variable during operation of the embedded robot, such state variables generally need to be stored in different modules or storage addresses, i.e. each state variable has at least two storage addresses.
In the process of accessing the state variables stored in the plurality of addresses, if the variable values stored in the plurality of addresses are not updated synchronously, system data conflict may be caused, and even system crash may be caused when the system data conflict is serious. Therefore, the application provides an improved embedded robot running state monitoring method which is used for accurately monitoring the embedded robot in real time so as to ensure the stable running of the embedded robot.
Fig. 2 illustrates a schematic diagram of operations involved in the embedded robot operational state monitoring method, which includes operations of constructing an operational state dataset of an embedded robot and synchronizing the operational state dataset, as shown in fig. 2, in some embodiments.
Specifically, the running state data set includes a plurality of state variables of the embedded robot and data packets respectively bound to each state variable, wherein among the plurality of state variables, at least one state variable of a first type (state variable 1 in fig. 2) and at least one state variable of a second type (state variable 2 in fig. 2) are included, and as described above, real-time measured values of the state variables of the first type can be acquired through the peripheral devices of the first type of the embedded robot; and the real-time setting value of the second type state variable is used for driving the second type peripheral of the embedded robot, and specific meanings of the first type peripheral, the first type state variable, the second type peripheral and the second type state variable are described in detail in the foregoing, and are not repeated here.
In the embodiment of the application, by constructing the data packet bound with the state variable, the conventional direct access to the state variable is changed into the access to the data packet, and the reason for using the data access mechanism is that: in the existing variable management mechanism of the embedded robot, for multiple access variables in the running process, access of multiple modules is generally realized by setting a global variable, because the declaration and access of the global variable involve a kernel layer, careful processing is needed, especially in the final development (especially in an application layer), if coordination of a variable access mechanism is not performed among multiple developers, the global variable (variable declared by the external system) is easily invoked in different programs developed by the multiple developers independently, even if the multiple storage addresses are respectively modified under the condition of non-uniform coordination, the situation is very dangerous, even possibly causes system crash, and in addition, the embedded robot also needs to perform locking protection operation when the global variable access is regulated in the development stage, however, in the actual development process, codes of all developers are difficult to meet the above specification through forced measures, therefore, a more robust mechanism for synchronously updating the variable independent of the underlying architecture needs to be provided, and the code synchronization caused by the non-uniform specification of the developers is avoided.
In the embodiment of the application, the synchronous updating of the state variables is performed through the data packet bound with the state variables, and the construction, access and updating operations of the data packet are performed at the application layer of the embedded system, so that the data packet can be accessed or called by different functions, the management of the state variables is decoupled from the underlying hardware architecture, and the robustness of the system is more effectively ensured.
In the embodiment of the present application, as shown in fig. 2, each data packet includes at least the following items: the method comprises the steps of binding an ID (identity) of a state variable with the data packet, a current value, a storage address list and a locking state, wherein the ID value of the state variable is used for uniquely identifying the state variable, and the current value corresponds to a real-time measured value of a first type peripheral or an implementation setting value of a second type peripheral respectively according to the type of the state variable; the storage address list stores the storage addresses of the state variable in each module which has access to the state variable, after the current value changes, the synchronous updating is carried out in the storage address list, and the locking state is used for representing the locked or unlocked state of the state variable in real time in the synchronous updating process.
Specifically, when one state variable is in an unlocked state, all programs or functions with access rights have the right to read or update the state variable, and when one state variable is in a locked state, other programs/functions needing to access the state variable except for the program/function which has currently entered a read or update operation wait for the switching of the locked state in a queuing form, and in some specific embodiments, a semaphore in an embedded system can be used as the locked state.
As shown in fig. 2, in the method for monitoring the running state of the embedded robot, the operation for synchronizing the running state data set includes acquiring the real-time measured value of the first type state variable according to the running state of the peripheral of the embedded robot and synchronously updating the real-time measured value, and controlling the running state of the peripheral of the embedded robot according to the real-time set value of the second type state variable and synchronously updating the real-time measured value.
FIG. 3 illustrates a flow diagram of a particular implementation of a synchronized update of an operational state data set, in some particular embodiments, as shown in FIG. 3, the synchronized update comprising the steps of:
step 100, acquiring a real-time measured value or a real-time set value of a state variable to be updated;
step 200, determining the data packet bound by the state variable which needs to be updated;
step 300, reading the locking state in the data packet, if the locking state is unlocked, executing step 400, if the locking state is locked, waiting until the locking state of the state variable becomes unlocked and no earlier updating operation is performed on the state variable, and entering step 400;
step 400, setting the locked state in the data packet to be locked;
step 500, reading a storage address list from the data packet;
step 600, updating each storage address on the storage address list in the data packet by using the acquired real-time measurement value or real-time setting value;
step 700, updating the current value in the data packet by using the acquired real-time measured value or real-time set value;
step 800, setting the locked state in the data packet to unlocked.
In the embodiment of the present application, when the real-time measurement value of the first state variable acquired by any one of the first peripheral devices changes, the receiving interrupt is triggered generally, and the synchronous update of the first state variable can be performed through steps 100 to 600 after the receiving interrupt is entered; in addition, when any one of the second-type peripherals needs to be reset using the real-time setting value of the second state variable, the above steps 100 to 600 are generally performed by a function to perform synchronous update of the second state variable.
Specifically, when the synchronous updating is implemented, firstly, whether the state variable is being updated by other programs or functions is judged according to whether the state variable is locked, if not, the updating operation of the state variable is directly entered, otherwise, the updating operation of the state variable is entered into a queuing queue for updating the state variable, and after all the previous updating operations are completed, the updating operation of the state variable is entered again.
Further, in the update operation of the state variable, the state variable is locked first to avoid conflict caused by simultaneous operation of other programs or functions on the state variable in the update operation process, then all storage addresses of the state variable are obtained from the bound data packet, the state variable is updated in all the addresses, and finally the state variable is unlocked after the update is completed.
Table 1 below shows the data format of a data packet in some preferred embodiments, as shown in table 1, in which the data packet includes information such as the time when the variable was last changed and the number of times the current value was changed in a unit time, in addition to the ID, the current value, the stored address list, and the locked state thereof.
Table 1 data format of data packet
In some preferred embodiments, as shown in fig. 4, the data packet further includes a pointer to a synchronization function, which may be, in particular, a callback function as known to those skilled in the art, that stores the current value of the state variable synchronously when it is called, i.e., at the storage address of the corresponding state variable, and returns to the location before the call after the call is completed to continue executing the program that was running before the call. Through the callback function, programs developed by different developers can be called at a software layer so as to realize synchronous update of the state variables of the embedded robot, thereby avoiding the access of different programs to global variables at a kernel layer and greatly improving the robustness and safety of the system.
As described above, in the present application, the first type variable, the current value of the second type variable, the variable refresh time and the refresh frequency information may be processed by a unified processing module (such as the 1 st sub-chip for receiving the plurality of first type variables and the 3 rd sub-chip for transmitting the plurality of second type variables in fig. 1); in addition, in some preferred embodiments, as shown in FIG. 3, a 2 nd sub-chip connected between the 1 st sub-chip and the 3 rd sub-chip may be further used to receive the first type of variable and the second type of variable and generate a third type of variable by processing the first type of variable and the second type of variable; in other preferred embodiments, the third type of variable may also be a CRC check value reflecting CAN communication or board communication between the respective units of the embedded robot to reflect the communication condition of the embedded robot.
After the first type of variable, the second type of variable and the third type of variable are synchronously updated, in some preferred embodiments of the present application, whether the running state of the robot is abnormal or not may also be judged through the running state data set after synchronization, for example, for a wheeled robot, if an excessive problem occurs in the roll shaft angle obtained through the encoder, the probability represents that a rollover or the like occurs.
In the embodiment of the application, in the operation states of different aspects of the embedded robot, which can be reflected according to different types of variables, one or several state variables are selectively monitored, and the abnormal judgment of the operation state of the embedded robot is performed by using a corresponding judgment mode, for example:
(1) In some embodiments, the abnormality determination may be performed based on a comparison result between the state variable and a preset threshold, and when the current value of a certain state variable exceeds a preset threshold range, it may be determined that the running state of the embedded robot is abnormal, as described above, and when the roll angle is greater than the preset angle threshold, it is determined that a roll failure occurs:
(2) In some embodiments, the abnormality determination may be performed based on the duration of the current value of the state variable being maintained in a certain state, for example, when the output of the motor is maintained in a high-level interval for a long time, a motor stall problem, a feedback failure problem, etc. may occur;
(3) In some embodiments, the abnormality determination may be performed based on the fluctuation frequency/amplitude of the state variable, for some peripheral devices such as a motor, the high-frequency and large-amplitude vibration in some occasions is extremely harmful, which may cause instability of the controller, overheating and demagnetization of the motor, and so on, the amplitude and frequency of the vibration of the peripheral devices such as the motor may be obtained by using the acceleration sensor to perform the abnormality determination;
(4) In some embodiments, the abnormality determination may be performed based on the update frequency of the state variables, where when the update frequency of some state variables of the embedded robot is reduced, the abnormality determination often represents problems such as loosening of ports, poor contact, overheating, wearing of link lines, etc. occurring in the operation process of some peripheral devices (e.g., sensors), or problems such as abnormal control threads and frequent triggering of a triggering threshold of some peripheral devices (e.g., controllers), where the low-frequency large-amplitude fluctuation condition may be detected by using variable refresh frequency data in a data packet bound by the state variables.
The result of the abnormal judgment of the running state of the embedded robot can be transmitted to the control equipment such as an upper computer or the like on line through a communication or recording mode known by a person skilled in the art, or stored in the storage equipment such as a hard disk, a FLASH and the like so as to further analyze and remove faults.
While the foregoing is directed to embodiments of the present application, other and further embodiments of the invention may be devised without departing from the basic scope thereof, and the scope thereof is determined by the claims that follow.
Claims (10)
1. The method for monitoring the running state of the embedded robot is characterized by comprising the following operations:
constructing an operation state data set of the embedded robot, wherein the operation state data set comprises a plurality of state variables of the embedded robot and data packets bound with the state variables, and the state variables comprise a first type of state variables and a second type of state variables;
the operation of synchronizing the running state data set comprises the steps of acquiring real-time measured values of the first type of state variables according to the running state of the peripheral equipment of the embedded robot and synchronously updating the real-time measured values, and controlling the running state of the peripheral equipment of the embedded robot according to the real-time set values of the second type of state variables and synchronously updating the real-time measured values.
2. The embedded robot operating state monitoring method according to claim 1, wherein:
the real-time measured value of the first type state variable is obtained through a first type peripheral of the embedded robot; the method comprises the steps of,
and the real-time set value of the second type state variable is used for driving a second type peripheral of the embedded robot.
3. The embedded robot operating state monitoring method according to claim 2, wherein:
the first type of peripheral equipment is sensor type of peripheral equipment.
4. The embedded robot operating state monitoring method of claim 1, wherein the second class of peripherals comprises at least one of:
motor, steering wheel, heating device.
5. The embedded robot operating state monitoring method of claim 1, wherein the state variables have at least two memory addresses, and wherein the data packet includes at least the following data items:
the ID of the state variable bound to the packet, the current value, the list of memory addresses, the locked state.
6. The embedded robot operating state monitoring method of claim 5, wherein for each of the state variables, the updating is performed synchronously by:
step 100, acquiring a real-time measured value or a real-time set value of a state variable to be updated;
step 200, determining the data packet bound by the state variable which needs to be updated;
step 300, reading the locking state in the data packet, if the locking state is unlocked, executing step 400, if the locking state is locked, waiting until the locking state of the state variable becomes unlocked and no earlier updating operation is performed on the state variable, and entering step 400;
step 400, setting the locked state in the data packet to be locked;
step 500, reading a storage address list from the data packet;
step 600, updating each storage address on the storage address list in the data packet by using the acquired real-time measurement value or real-time setting value;
step 700, updating the current value in the data packet by using the acquired real-time measured value or real-time set value;
step 800, setting the locked state in the data packet to unlocked.
7. The embedded robot operating state monitoring method of claim 6, wherein:
the data packet further comprises a pointer to a synchronization function for synchronously storing the current value of the state variable at the storage address of the state variable.
8. The method for monitoring the operation state of an embedded robot according to claim 1, wherein,
the plurality of state variables further includes at least one third type of state variable and synchronizing the operating state data set further includes:
and synchronously updating the third type of state variables according to the real-time measured values of the first type of state variables and/or the real-time set values of the second type of state variables.
9. The embedded robot operating state monitoring method of claim 8, wherein synchronizing the operating state data set further comprises:
and synchronously updating the third type of state variables according to the communication conditions among the peripheral devices of the embedded robot.
10. The embedded robot operating state monitoring method according to claim 1, wherein:
the method also comprises the operation of judging whether the running state of the embedded robot is abnormal or not.
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